CN108591373B

CN108591373B - Integrated encapsulation planet rotary joint structure

Info

Publication number: CN108591373B
Application number: CN201810720544.3A
Authority: CN
Inventors: 袁建军; 徐锦辉; 管仁明
Original assignee: Suzhou Shenzhizhu Technology Service Co ltd
Current assignee: Suzhou Shenzhizhu Technology Service Co ltd
Priority date: 2018-07-04
Filing date: 2018-07-04
Publication date: 2024-02-09
Anticipated expiration: 2038-07-04
Also published as: CN108591373A

Abstract

The utility model provides an integrated encapsulation planet rotary joint structure, includes shell and is arranged in fixed axle, motor, casing, drive assembly, ring gear I, ring gear II, link, stopper, encoder and driver of shell inner chamber, and the equal fixed mounting in the open department in shell both ends has the apron, through the mutual combination of two apron and shell, realizes the reliable encapsulation to components and parts. The transmission assembly has the multiunit, and all evenly distributed along the circumference of fixed axle, every transmission assembly of group comprises connecting axle, spur gear I and spur gear II, and the both ends of connecting axle pass through the bearing and install on the outer wall of casing, spur gear I and spur gear II all with connecting axle fixed connection, ring gear I and ring gear II all overlap in transmission assembly's outside to with spur gear I and spur gear II meshing connection respectively, the outer wall and the shell fixed connection of ring gear II. The invention has compact structure, large output torque, simple and convenient debugging, long service life, reduced wiring difficulty and capability of greatly improving the service efficiency of the motor.

Description

Integrated encapsulation planet rotary joint structure

Technical Field

The invention relates to a rotary joint, in particular to an integrated packaging planetary rotary joint structure.

Background

The traditional modularized rotary joints are mostly applied to joint robots, automatic guided vehicles, electric wheel type mobile platforms and the like, and when the required driving torque is large, a motor, a speed reducing mechanism, a power output mechanism and the like are generally connected together to form a driving part, and servo control is realized through an encoder and a driver. For example, the invention patent application of China with the publication number of CN107718036 and the name of "a double-feedback compact type high-precision hollow integrated joint" and the invention patent application with the publication number of CN104552329 and the name of "a drive control integrated intelligent integrated joint" are all characterized in that a plurality of parts such as a motor, a speed reducing mechanism, a power output mechanism and the like are sequentially arranged along the axial direction, so that the axial length of the whole joint is longer, and the whole design of equipment is very unfavorable; in addition, this technique has the following drawbacks in the practical application process: (2) The whole joint unit comprises multi-stage mechanical transmission, so that the loss of output power is increased; (3) The total number of components is large, so that the debugging difficulty in the use process of a user is increased; (4) When the equipment is in a severe environment and all the parts are required to be protected, the joint is assembled by a plurality of parts, so that the difficulty of protection design is increased; (5) The motor and the servo motor are respectively arranged at different positions, and more connecting wires are needed to be connected between the motor and the servo motor, so that on one hand, the connecting wires can generate pressure drop to influence the efficiency of the motor; on the other hand, more connecting wires increase the wiring difficulty in the design process and influence the overall appearance; (6) Conventional modular rotary joints are typically configured with independent planetary reducers, harmonic reducers, etc., and have limited cost performance.

Disclosure of Invention

The invention aims to solve the technical problem of providing the integrated packaging planetary rotary joint structure which has the advantages of compact structure, large output torque, moderate reduction ratio, excellent cost performance, simple and convenient debugging, long service life, reduced wiring difficulty and capability of greatly improving the service efficiency of a motor.

The technical scheme of the invention is that the integrated packaging planetary rotary joint structure comprises a shell, a fixed shaft, a motor, a shell, a transmission assembly, an annular gear I, an annular gear II, a connecting frame, a brake, an encoder and a driver, wherein the fixed shaft, the motor, the shell, the transmission assembly, the annular gear I, the annular gear II, the connecting frame, the brake, the encoder and the driver are arranged in an inner cavity of the shell; the motor comprises a stator and a rotor, wherein the stator is sleeved in the middle of the fixed shaft and is fixedly connected with the fixed shaft, the rotor is arranged outside the stator, the outer peripheral wall of the rotor is fixedly connected with the inner peripheral wall of the motor shell, a plurality of groups of transmission assemblies are uniformly distributed along the circumferential circumference of the fixed shaft, each group of transmission assemblies consists of a connecting shaft, a spur gear I and a spur gear II, the axis of the connecting shaft is parallel to the axis of the fixed shaft, the two ends of the connecting shaft are arranged on the outer wall of the motor shell through bearings, the spur gear I and the spur gear II are sleeved on the connecting shaft and are fixedly connected with the connecting shaft, the inner gear I and the inner gear II are sleeved outside the transmission assemblies, the inner gear I is meshed with the spur gear I and is fixedly arranged on the connecting frame, the connecting frame is positioned on the left side of the motor shell and is fixedly connected with the inner wall of the inner gear II, and the outer wall of the inner gear II is meshed with the outer shell; the brake is arranged on the left side wall of the connecting frame and used for braking the motor, the encoder and the driver are both positioned on the right side of the shell, the driver comprises a driving plate and a driving plate connecting piece, the driving plate is arranged outside the driving plate connecting piece, the driving plate connecting piece is fixedly arranged on the fixed shaft, the encoder comprises a wharf and a code disc, the code disc is fixedly arranged on the shell, and the wharf is fixedly arranged on the driving plate connecting piece; cover plates are fixedly arranged at the openings of the left end and the right end of the shell, and the cover plates are connected with the fixed shaft through bearings.

The invention discloses an integrated packaging planetary rotary joint structure, wherein a machine shell is composed of a rotor fixing piece and a rotor gland which are mutually buckled and connected together, the rotor fixing piece is positioned on the left side of a motor, the rotor gland is positioned on the right side of the motor, the rotor fixing piece is arranged on a connecting frame through a bearing, the rotor gland is arranged on a fixed shaft through a bearing, annular convex edges are arranged on the outer peripheral walls of the rotor fixing piece and the rotor gland, two annular convex edges enclose an annular storage cavity for a transmission assembly to be placed in, and two ends of the connecting shaft are respectively arranged on the two annular convex edges through bearings.

The invention discloses an integrated packaging planetary rotary joint structure, wherein a brake comprises an electromagnet, an electromagnet connecting plate and a limiting piece, wherein the electromagnet connecting plate and the limiting piece are positioned in an inner cavity of a connecting frame, the electromagnet is arranged on the left side wall of the connecting frame, a through hole for a valve rod of the electromagnet to penetrate through is formed in the outer wall of the connecting frame, the bottom of the valve rod penetrates through the through hole and is fixedly connected with the electromagnet connecting plate, the limiting piece is fixedly arranged on the left side wall of a rotor fixing piece, and a plurality of arc-shaped openings for the electromagnet connecting plate to be inserted are formed in the outer peripheral wall of the limiting piece.

After the structure is adopted, compared with the prior art, the integrated packaging planetary rotary joint structure has the following advantages:

1. according to the invention, the rotor of the motor is used as a planet carrier of the planetary reducer to directly drive the reduction mechanisms such as the spur gear, the annular gear and the like, so that the integration of the motor and the reducer is realized, and the transmission efficiency is greatly improved, meanwhile, a larger reduction ratio can be obtained, the speed is 2-3 times higher than that of a planetary reduction structure taking the sun gear as input, and a larger output torque is realized; in addition, the radial design also simplifies the whole structure of the invention, shortens the axial length and makes the structure more compact;

2. because the driver, the motor and the like are arranged in the same shell, the length of a connecting wire is greatly reduced, so that the service efficiency of the motor is improved, only corresponding power lines and communication lines are led out, the number of wire harnesses is reduced, and the difficulty of designing wiring is reduced;

3. according to the invention, through reasonable structural design, the motor, the speed reducer, the driver, the encoder and the brake which are formed by the spur gear, the annular gear and the like are integrally packaged, and the integration level of the rotary joint module is greatly improved; when the device is used, a user can control the joint unit and collect information only by connecting the joint unit through communication, so that the device is very convenient to debug;

4. the encoder is packaged in the shell, so that high-torque high-precision servo control can be realized, and the service life is long;

5. each component is integrally packaged in the rotary module joint, so that the protection of each component is realized, various working environments are better dealt with, and the universality is enhanced;

6. the independent harmonic reducer and other parts are avoided, and the same technical effect is achieved through the precise planetary reduction structure design, so that the autonomous space of technical products is improved, and the technical and price bottlenecks are solved.

Drawings

FIG. 1 is a schematic cross-sectional view of an integrally packaged planetary rotary joint structure according to the present invention;

fig. 2 is a schematic view of a front view of the stopper shown in fig. 1.

Detailed Description

The invention relates to an integrally packaged planetary rotary joint structure, which is further described in detail below with reference to the accompanying drawings and detailed description:

as shown in fig. 1, in this embodiment, the integrally packaged planetary rotary joint structure of the present invention includes a housing 4, and a fixed shaft 110, a motor 120, a casing 13, a transmission assembly 6, an annular gear i 7, an annular gear ii 5, a connecting frame 10, a brake 8, an encoder 2, and a driver 1 that are located in an inner cavity of the housing 4. Cover plates 9 and 3 are fixedly installed at the openings of the left end and the right end of the shell 4, the cover plates 9 and 3 are connected with a fixed shaft 110 through bearings, and reliable packaging of components is achieved through mutual combination of the two cover plates 9 and 3 and the shell 4. The fixed shaft 110 has a hollow structure, and can be penetrated by a power supply line, thereby facilitating wiring.

The casing 13 is sleeved outside the motor 120 and mounted on the fixed shaft 110 through a bearing. The motor 120 comprises a stator 121 and a rotor 122, wherein the stator 121 is sleeved in the middle of the fixed shaft 110 and is fixedly connected with the fixed shaft 110 through a flat key; the rotor 122 is installed outside the stator 121, and an outer circumferential wall of the rotor 122 is fixedly connected with an inner circumferential wall of the casing 13.

The number of the transmission assemblies 6 is multiple, and the transmission assemblies 6 are uniformly distributed along the circumferential circumference of the fixed shaft 110, and each transmission assembly 6 consists of a connecting shaft 62, a spur gear I61 and a spur gear II 63. The axis of the connecting shaft 62 is parallel to the axis of the fixed shaft 110, two ends of the connecting shaft 62 are mounted on the outer wall of the casing 13 through bearings, and the spur gear I61 and the spur gear II 63 are sleeved on the connecting shaft 62 and fixedly connected with the connecting shaft 62 through flat keys. The inner gear ring I7 and the inner gear ring II 5 are sleeved outside the transmission assembly 6, the inner gear ring I7 is connected with the spur gear I61 in a meshed mode, and the inner gear ring I7 is fixedly mounted on the right side wall of the connecting frame 10. The connection frame 10 is positioned at the left side of the cabinet 13 and is fixedly connected with the fixed shaft 110 through a flat key. The inner wall of ring gear II 5 is connected with straight gear II 63 meshing, and the outer wall of ring gear II 5 and shell 4 fixed connection.

A brake 8 is mounted on the left side wall of the connection frame 10 for braking the motor 120. The encoder 2 and the driver 1 are both positioned on the right side of the casing 13, the driver 1 comprises a driving plate 11 and a driving plate connecting piece 12, the driving plate 11 is arranged outside the driving plate connecting piece 12, and the driving plate connecting piece 12 is fixedly arranged on the fixed shaft 110; the encoder 2 includes a quay 21 and a code wheel 22, the code wheel 22 being fixedly mounted on the housing 13, the quay 21 being fixedly mounted on the drive plate connection 12. In this embodiment, the encoder 2 and the driver 1 are commercially available products.

The casing 13 comprises a rotor fixing piece 131 and a rotor gland 132 which are mutually buckled and connected together, the rotor fixing piece 131 is positioned on the left side of the motor 120, the rotor gland 132 is positioned on the right side of the motor 120, the rotor fixing piece 131 is arranged on the connecting frame 10 through a bearing, the rotor gland 132 is arranged on the fixed shaft 110 through a bearing, annular convex edges 133 and 134 are arranged on the peripheral walls of the rotor fixing piece 131 and the rotor gland 132, the two annular convex edges 133 and 134 enclose an annular storage cavity 135 for the transmission assembly 6 to be put in, and two ends of the connecting shaft 62 are respectively arranged on the two annular convex edges 133 and 134 through bearings. Through the structural design, besides convenient assembly, the whole structure can be further more compact.

The brake 8 comprises an electromagnet 81, an electromagnet connecting plate 82 and a limiting piece 83, wherein the electromagnet connecting plate 82 and the limiting piece 83 are located in an inner cavity of the connecting frame 10, the electromagnet 81 is installed on the left side wall of the connecting frame 10, a through hole for a valve rod of the power supply magnet 81 to penetrate through is formed in the outer wall of the connecting frame 10, the bottom of the valve rod penetrates through the through hole and then is fixedly connected with the electromagnet connecting plate 82, and the limiting piece 83 is fixedly installed on the left side wall of the rotor fixing piece 131. Referring to fig. 2, a plurality of arc-shaped slits 831 into which the electromagnet connecting plates 82 are inserted are provided in the outer peripheral wall of the limiting member 83. Reliable braking of the motor 120 can be achieved by the above-described structure.

The invention can realize a low-speed servo system with higher integration level by carrying out hardware packaging on the motor 120, the speed reducer consisting of the spur gear, the annular gear and the like, the brake 8, the driver 1 and the encoder 2. According to the invention, the rotor of the motor 120 is used as a planet carrier of a planetary reducer, and the reduction mechanisms such as a spur gear, an annular gear and the like are directly driven, so that the integration of the motor and the reducer is realized, the transmission efficiency is greatly improved, a larger reduction ratio can be obtained, and a larger output torque is realized; in addition, the radial design also simplifies the whole structure of the invention, shortens the axial length and makes the structure more compact.

The working principle of the invention is as follows: after the motor 120 is powered on, the rotor 122 drives the casing 13 to rotate synchronously, as the spur gear I61 and the spur gear II 63 are fixedly arranged on the connecting shaft 62, and both ends of the connecting shaft 62 are connected with the two annular convex edges 133 and 134 through bearings, the annular gear I7 and the connecting frame 10 are fixedly arranged, therefore, in the rotating process of the casing 13, the spur gear I61 and the spur gear II 63 rotate around the annular gear I7 while rotating, so that the spur gear II 63 drives the annular gear II 5 to rotate and finally drives the shell 4 to rotate, a larger reduction ratio is achieved, and the planetary reduction structure taking a sun wheel as an input is 2-3 times higher, and a larger output torque is realized.

The above examples are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the protection scope of the present invention without departing from the design spirit of the present invention.

Claims

1. An integrated encapsulation planet rotary joint structure which characterized in that: the device comprises a shell (4), a fixed shaft (110), a motor (120), a shell (13), a transmission assembly (6), an inner gear ring I (7), an inner gear ring II (5), a connecting frame (10), a brake (8), an encoder (2) and a driver (1), wherein the fixed shaft is positioned in an inner cavity of the shell (4);

the motor (120) comprises a stator (121) and a rotor (122), the stator (121) is sleeved in the middle of the fixed shaft (110) and is fixedly connected with the fixed shaft (110), the rotor (122) is mounted outside the stator (121), the outer peripheral wall of the rotor (122) is fixedly connected with the inner peripheral wall of the motor (13), the transmission assemblies (6) are provided with a plurality of groups and uniformly distributed along the circumferential circumference of the fixed shaft (110), each group of transmission assemblies (6) is composed of a connecting shaft (62), a spur gear I (61) and a spur gear II (63), the axis of the connecting shaft (62) is parallel to the axis of the fixed shaft (110), two ends of the connecting shaft (62) are mounted on the outer wall of the motor (13) through bearings, the spur gear I (61) and the spur gear II (63) are sleeved on the connecting shaft (62) and are fixedly connected with the connecting shaft (62), the inner gear I (7) and the inner gear II (5) are sleeved on the inner gear I (7) of the inner gear (10) which is fixedly meshed with the inner gear I (10) of the outer gear (10), the inner wall of the inner gear ring II (5) is meshed with the spur gear II (63), and the outer wall of the inner gear ring II (5) is fixedly connected with the shell (4);

the brake (8) is arranged on the left side wall of the connecting frame (10) and used for braking the motor (120), the encoder (2) and the driver (1) are both positioned on the right side of the casing (13), the driver (1) comprises a driving plate (11) and a driving plate connecting piece (12), the driving plate (11) is arranged outside the driving plate connecting piece (12), the driving plate connecting piece (12) is fixedly arranged on the fixed shaft (110), the encoder (2) comprises a wharf (21) and a code disc (22), the code disc (22) is fixedly arranged on the casing (13), and the wharf (21) is fixedly arranged on the driving plate connecting piece (12);

cover plates (9, 3) are fixedly arranged at openings at the left end and the right end of the shell (4), and the cover plates (9, 3) are connected with a fixed shaft (110) through bearings.

2. The integrally packaged planetary rotary joint structure of claim 1, wherein: the casing (13) comprises rotor mounting (131) and rotor gland (132) that mutual lock links together, and rotor mounting (131) are located the left side of motor (120), and rotor gland (132) are located the right side of motor (120), rotor mounting (131) are installed on link (10) through the bearing, and rotor gland (132) are installed on fixed axle (110) through the bearing, all be equipped with annular protruding edge (133, 134) on the periphery wall of rotor mounting (131) and rotor gland (132), two annular protruding edges (133, 134) enclose into annular storage chamber (135) that supply transmission subassembly (6) to put into, install respectively on two annular protruding edges (133, 134) through the bearing at the both ends of connecting axle (62).

3. An integrally packaged planetary rotary joint structure as claimed in claim 2, wherein: the brake (8) comprises an electromagnet (81) and an electromagnet connecting plate (82) and a limiting part (83) which are positioned in an inner cavity of the connecting frame (10), the electromagnet (81) is installed on the left side wall of the connecting frame (10), a through hole for a valve rod of the electromagnet (81) to penetrate through is formed in the outer wall of the connecting frame (10), the bottom of the valve rod penetrates through the through hole and is fixedly connected with the electromagnet connecting plate (82), the limiting part (83) is fixedly installed on the left side wall of the rotor fixing part (131), and a plurality of arc-shaped openings (831) for inserting the electromagnet connecting plate (82) are formed in the outer peripheral wall of the limiting part (83).